CN117255880A - Work machine and method for controlling work machine - Google Patents
Work machine and method for controlling work machine Download PDFInfo
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- CN117255880A CN117255880A CN202280024690.7A CN202280024690A CN117255880A CN 117255880 A CN117255880 A CN 117255880A CN 202280024690 A CN202280024690 A CN 202280024690A CN 117255880 A CN117255880 A CN 117255880A
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- 238000000034 method Methods 0.000 title claims description 27
- 230000008859 change Effects 0.000 claims abstract description 30
- 230000009471 action Effects 0.000 claims abstract description 27
- 230000004044 response Effects 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 claims description 11
- 238000007790 scraping Methods 0.000 claims description 3
- 230000036544 posture Effects 0.000 description 81
- 230000005540 biological transmission Effects 0.000 description 9
- 238000013178 mathematical model Methods 0.000 description 9
- 238000006073 displacement reaction Methods 0.000 description 8
- 230000004048 modification Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000002706 hydrostatic effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 230000015654 memory Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The working device is movably connected with respect to the vehicle body. The plurality of actuators are connected to the working device, and change the posture of the working device with respect to the vehicle body. The operating device is operable to change the posture of the working device. The sensor detects the posture of the working device. The controller obtains a current posture of the working device. The controller determines a target posture of the working device corresponding to an operation of the operating device. The controller determines a target stroke length for each of the plurality of actuators for causing the work device to assume a target posture from a current posture through a combination of stroke actions of the plurality of actuators. The controller controls the actuator based on the target stroke length.
Description
Technical Field
The present disclosure relates to work machines and methods for controlling work machines.
Background
The work machine includes a work device such as a blade and a plurality of actuators. The posture of the working device is changed in response to the stroke operation of the plurality of actuators. The attitude of the working device includes the height and orientation of the working device. For example, the land leveler of patent document 1 has a front frame, a drawbar (draw bar), a swivel (), a squeegee, left and right lift cylinders, a drawbar shift cylinder, and a hydraulic motor.
The traction rod is supported in a swingable manner in the up-down direction and the left-right direction relative to the front frame. The swivel ring is rotatably supported with respect to the drawbar. The scraping plate is connected with the rotary ring. The left and right shifting cylinders move the drawbar up and down. The traction rod shifting cylinder enables the traction rod to swing left and right. The hydraulic motor rotates the turn ring.
The land leveler has a plurality of operation levers corresponding to the respective cylinders. For example, the left lift cylinder performs a stroke operation in response to the operation of the left lift lever. The right lift cylinder performs a stroke operation corresponding to the operation of the right lift lever. The drawbar shift cylinder performs a stroke operation in response to an operation of the drawbar shift lever. The hydraulic motor performs a rotation operation in response to the operation of the rotating lever. The operator changes the posture of the squeegee by operating these levers.
Prior art literature
Patent literature
Patent document 1: (Japanese patent No. 5624691)
Disclosure of Invention
Problems to be solved by the invention
In the above grader, the operator needs to operate a plurality of levers simultaneously in order to take the target posture of the blade. For example, in the case where the operator wants to raise only the left end of the squeegee, if the operator operates only the left lift lever, the left end of the squeegee is raised due to the shrinkage of the left lift cylinder, but at the same time the right end of the squeegee is lowered. Therefore, when the operator only wants to raise the left end of the blade, it is necessary to operate the other levers at the same time in order to suppress the rise of the right end. Therefore, the operation of the working device is not easy. The purpose of the present invention is to facilitate the operation of a work machine for changing the posture of a work implement.
Means for solving the problems
The work machine of the first aspect of the present invention includes a vehicle body, a work device, a plurality of actuators, an operating device, a sensor, and a controller. The working device is movably connected with respect to the vehicle body. The plurality of actuators are connected to the working device, and change the posture of the working device with respect to the vehicle body. The operating device is operable to change the posture of the working device. The sensor detects the posture of the working device. The controller obtains a current posture of the working device. The controller determines a target posture of the working device corresponding to an operation of the operating device. The controller determines a target stroke length of each of the plurality of actuators for causing the working device to assume a target posture from the current posture by a combination of stroke actions of the plurality of actuators. The controller controls the actuator based on the target stroke length.
The method of the second aspect of the invention is a method for controlling a work machine. The work machine includes a body, a work device, and a plurality of actuators. The working device is movably connected with respect to the vehicle body. The plurality of actuators are connected to the working device, and change the posture of the working device with respect to the vehicle body. The method comprises the following steps: acquiring the current posture of the working device; acquiring an operation instruction for changing the posture of the working device; determining a target posture of the working device corresponding to the operation instruction; determining respective target stroke lengths of a plurality of actuators for causing the working device to assume a target posture from a current posture by a combination of stroke actions of the plurality of actuators; the actuator is controlled based on the target stroke length.
Effects of the invention
According to the present invention, the target posture of the working device is determined corresponding to the operation of the operating device. A respective target stroke length of the plurality of actuators for causing the working device to assume a target posture by a combination of stroke actions of the plurality of actuators is determined. Then, each of the plurality of actuators is controlled based on the determined target stroke length. Thus, by utilizing a simple operation of the operation device, the stroke actions of the plurality of actuators are combined, and the working device is caused to take the target posture. Therefore, in the work machine, an operation for changing the posture of the work implement becomes easy.
Drawings
Fig. 1 is a side view of a work machine according to an embodiment.
Fig. 2 is a perspective view of the front of the work machine.
Fig. 3 is a schematic diagram showing a drive system and a control system of the work machine.
Fig. 4 is a schematic rear view of the work machine showing the posture of the work implement.
Fig. 5 is a schematic plan view of the work machine showing the posture of the work implement.
Fig. 6 is a schematic side view of the work machine showing the posture of the work implement.
Fig. 7 is a schematic plan view of the work machine showing the posture of the work implement.
Fig. 8 is a schematic plan view of the work machine showing the posture of the work implement.
Fig. 9 is a table showing correspondence between an operation member operated by an operator and a driven actuator.
Fig. 10 is a rear view of a mathematical model showing the posture of the working device.
Fig. 11 is a rear view of a mathematical model showing the posture of the working device.
Fig. 12 is a rear view of a mathematical model showing the posture of the working device.
Fig. 13 is a flowchart showing a control process for changing the posture of the work device.
Fig. 14A to 14B are rear views of mathematical models showing the posture of the working device.
Fig. 15A to 15C are side views of mathematical models showing the posture of the working device.
Fig. 16A to 16C are side views of mathematical models showing the posture of the working device.
Fig. 17 is a schematic diagram showing a drive system and a control system of a work machine according to a first modification.
Fig. 18 is a schematic diagram showing a drive system and a control system of a work machine according to a second modification.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a side view of a work machine 1 according to an embodiment. Fig. 2 is a perspective view of the front portion of the work machine 1. As shown in fig. 1, a work machine 1 includes a vehicle body 2, front wheels 3, rear wheels 4, and a work implement 5. The vehicle body 2 includes a front frame 11, a rear frame 12, a cab 13, and a power compartment 14.
The rear frame 12 is connected with the front frame 11. The front frame 11 is hinged left and right with respect to the rear frame 12. In the following description, the front-rear-left-right directions refer to the front-rear-left-right directions of the vehicle body 2 in a state where the hinge angle (angle) is 0, that is, the front frame 11 and the rear frame 12 are straight.
The cab 13 and the power room 14 are disposed on the rear frame 12. A driver seat, not shown, is disposed in the driver cab 13. A drive system described later is disposed in the power chamber 14. The front frame 11 extends forward from the rear frame 12. The front wheel 3 is mounted on a front frame 11. The rear wheel 4 is mounted on a rear frame 12.
The working device 5 is movably connected with respect to the vehicle body 2. The working device 5 comprises a support member 15 and a scraper 16. The support member 15 is movably connected to the vehicle body 2. The supporting member 15 supports the squeegee 16. The support member 15 includes a traction rod 17 and a swivel 18. The traction lever 17 is disposed below the front frame 11.
As shown in fig. 2, the drawbar 17 is connected to a shaft support portion 19 of the front frame 11. The shaft support 19 is disposed at the front of the front frame 11. The traction lever 17 extends rearward from the front of the front frame 11. The traction lever 17 is supported swingably with respect to the front frame 11 at least in the up-down direction and the left-right direction of the vehicle body 2. For example, the shaft support 19 includes a ball joint. The drawbar 17 is rotatably connected with respect to the front housing 11 via a ball joint.
The swivel 18 is connected to the rear of the drawbar 17. The swivel ring 18 is rotatably supported with respect to the drawbar 17. The scraper 16 is connected to a swivel 18. The scraper 16 is supported on a traction rod 17 via a swivel 18. The blade 16 is rotatably supported by the turn ring 18 about the inclined shaft 21. The tilt shaft 21 extends in the left-right direction. The scraper 16 is supported slidably in the left-right direction by a swivel ring 18.
Work machine 1 includes a plurality of actuators 22-27 for changing the posture of work implement 5. The plurality of actuators 22-27 includes a plurality of hydraulic cylinders 22-26. A plurality of hydraulic cylinders 22-26 are connected to the working device 5. The plurality of hydraulic cylinders 22-26 are hydraulically extended and contracted. The plurality of hydraulic cylinders 22 to 26 change the posture of the working device 5 with respect to the vehicle body 2 by telescoping. In the following description, the expansion and contraction of the hydraulic cylinder will be referred to as "stroke operation".
In detail, the plurality of hydraulic cylinders 22 to 26 includes a left lift cylinder 22, a right lift cylinder 23, a drawbar shift cylinder 24, a squeegee tilt cylinder 25, and a squeegee shift cylinder 26. The left lift cylinder 22 and the right lift cylinder 23 are disposed apart from each other in the left-right direction. The left lift cylinder 22 is connected to the left part of the drawbar 17. The right lift cylinder 23 is connected to the right portion of the drawbar 17. The left lift cylinder 22 and the right lift cylinder 23 are connected swingably to the left and right with respect to the traction lever 17.
The left lift cylinder 22 and the right lift cylinder 23 are connected swingably left and right with respect to the front frame 11. Specifically, the left lift cylinder 22 and the right lift cylinder 23 are connected to the front frame 11 via a lift bracket 29. The lifter bracket 29 is connected to the front frame 11. The lifter bracket 29 supports the left lift cylinder 22 and the right lift cylinder 23 so as to be swingable right and left. The traction rod 17 swings up and down around the shaft support portion 19 by the stroke operation of the left lift cylinder 22 and the right lift cylinder 23. Thereby, the squeegee 16 moves up and down.
The drawbar shift cylinder 24 is connected to the drawbar 17 and the front housing 11. The drawbar shift cylinder 24 is connected to the front frame 11 via a lifter bracket 29. The drawbar shift cylinder 24 is swingably connected with respect to the front frame 11. The drawbar shift cylinder 24 is connected swingably with respect to the drawbar 17. The drawbar shift cylinder 24 extends obliquely downward from the front frame 11 toward the drawbar 17. The drawbar shift cylinder 24 extends from the left and right sides of the front frame 11 to opposite sides. The drawbar 17 swings around the shaft support 19 by the stroke operation of the drawbar shift cylinder 24.
As shown in fig. 1, the blade tilting cylinder 25 is connected to the swivel ring 18 and the blade 16. The squeegee 16 rotates about the tilting shaft 21 by the stroke action of the squeegee tilting cylinder 25. As shown in fig. 2, the squeegee shift cylinder 26 is connected to the swivel ring 18 and the squeegee 16. The blade 16 slides laterally with respect to the pivot ring 18 by the stroke operation of the blade tilting cylinder 25.
The plurality of actuators 22-27 includes a rotary actuator 27. The rotary actuator 27 is connected to the drawbar 17 and the swivel 18. The rotary actuator 27 rotates the swivel ring 18 relative to the drawbar 17. Thereby, the blade 16 rotates about the rotation axis extending in the up-down direction.
Fig. 3 is a schematic diagram showing a drive system 6 and a control system 7 of the work machine 1. As shown in fig. 3, the work machine 1 includes a drive source 31, a hydraulic pump 32, a power transmission device 33, and a control valve 34. The drive source 31 is, for example, an internal combustion engine. Alternatively, the drive source 31 may be an electric motor or a mixture of an internal combustion engine and an electric motor. The hydraulic pump 32 is driven by the drive source 31 to discharge the working oil.
The control valve 34 is connected to the hydraulic pump 32 and the plurality of hydraulic cylinders 22-26 via a hydraulic circuit. Control valve 34 includes a plurality of valves coupled to a plurality of hydraulic cylinders 22-26, respectively. The control valve 34 controls the flow rate of the hydraulic fluid supplied from the hydraulic pump 32 to the plurality of hydraulic cylinders 22 to 26.
In the present embodiment, the rotary actuator 27 is a hydraulic motor. The control valve 34 is connected to the hydraulic pump 32 and the rotary actuator 27 via a hydraulic circuit. The control valve 34 controls the flow rate of the hydraulic oil supplied from the hydraulic pump 32 to the rotary actuator 27. The rotary actuator 27 may be an electric motor.
The power transmission device 33 transmits the driving force from the driving source 31 to the rear wheel 4. The power transmission device 33 may include a torque converter and/or a plurality of speed change gears. Alternatively, the power transmission device 33 may be a transmission such as an HST (Hydraulic Static Transmission: hydrostatic transmission) or an HMT (Hydraulic Mechanical Transmission: hydromechanical transmission).
As shown in fig. 3, the work machine 1 includes an operation device 35 and a controller 36. The operating device 35 can be operated by an operator to change the posture of the working device 5. The posture of the working device 5 is defined by a plurality of parameters. The plurality of parameters represent the position and orientation of the screed 16 relative to the vehicle body 2. Fig. 4 is a schematic rear view of work machine 1 showing the posture of work implement 5. As shown in fig. 4, the plurality of parameters includes the height of the left end 161 and the height of the right end 162 of the screed 16.
The plurality of parameters includes a yaw (yaw) angle θ1, a pitch (pitch) angle θ2, and a roll (roll) angle θ3 of the drawbar 17. Fig. 5 is a schematic plan view of work machine 1 showing the posture of work implement 5. As shown in fig. 5, the yaw angle θ1 of the drawbar 17 is an inclination angle of the left-right direction of the drawbar 17 with respect to the front-rear direction of the vehicle body 2. The yaw angle θ1 of the drawbar 17 may be an inclination angle of the left-right direction of the drawbar 17 with respect to the front-rear direction of the front frame 11. The position of the squeegee 16 in the left-right direction changes in accordance with the yaw angle θ1 of the drawbar 17.
Fig. 6 is a schematic side view of work machine 1 showing the posture of work implement 5. As shown in fig. 6, the pitch angle θ2 of the drawbar 17 is an inclination angle of the drawbar 17 in the up-down direction with respect to the front-rear direction of the vehicle body 2. As shown in fig. 4, the roll angle θ3 of the drawbar 17 is an inclination angle of the drawbar 17 about the roll axis A1 extending in the front-rear direction of the vehicle body 2.
The plurality of parameters include a rotation angle θ4 of the turn ring 18, an inclination angle θ5 of the squeegee 16, and a displacement amount W1 of the squeegee 16. Fig. 7 is a schematic plan view of work machine 1 showing the posture of work implement 5. As shown in fig. 7, the rotation angle θ4 of the pivot ring 18 is the rotation angle θ4 of the pivot ring 18 with respect to the front-rear direction of the vehicle body 2. As shown in fig. 6, the inclination angle θ5 of the blade 16 is an inclination angle of the blade 16 about the inclination axis 21 extending in the left-right direction. Fig. 8 is a schematic plan view of work machine 1 showing the posture of work implement 5. As shown in fig. 8, the displacement amount W1 of the scraper 16 is the sliding amount of the scraper 16 in the left-right direction with respect to the turn ring 18.
The operating device 35 is operable by an operator to change the above-mentioned parameters. The operating device 35 comprises a plurality of operating members 41-46. The plurality of operation members 41 to 46 are provided corresponding to the height of the left end portion 161, the height of the right end portion 162, the yaw angle θ1 of the traction lever 17, the rotation angle θ4 of the pivot ring 18, the inclination angle θ5 of the squeegee 16, and the displacement amount W1 of the squeegee 16, respectively, of the above-described plurality of parameters.
The plurality of operating members 41 to 46 include a left lift lever 41, a right lift lever 42, a traction lever shift lever 43, a rotating lever 44, a squeegee tilt lever 45, and a squeegee shift lever 46. The left lift lever 41 is operated to change the height of the left end 161 of the squeegee 16. The right lift lever 42 is operated to change the height of the right end 162 of the screed 16.
The drawbar shift lever 43 is operated to change the yaw angle θ1 of the drawbar 17. The rotating lever 44 is operated to change the rotation angle θ4 of the turn ring 18. The blade inclination lever 45 is operated to change the inclination angle θ5 of the blade 16. The squeegee shift lever 46 is operated to change the shift amount W1 of the squeegee 16. The plurality of operation members 41 to 46 output signals indicating operations of the operation members 41 to 46 by the operator, respectively.
The controller 36 controls the drive source 31 and the power transmission device 33 to drive the work machine 1. The controller 36 controls the hydraulic pump 32 and the control valve 34 to operate the working device 5. The controller 36 includes a processor 37 and a memory device 38. The processor 37 is, for example, a CPU, and executes a program for controlling the work machine 1. The storage device 38 includes memories such as RAM and ROM, and auxiliary storage devices such as SSD or HDD. The storage device 38 stores programs and data for controlling the work machine 1.
As shown in fig. 3, the work machine 1 includes a plurality of sensors S1 to S6 for detecting the posture of the work implement 5. The plurality of sensors S1-S6 are, for example, magnetic sensors. However, the plurality of sensors S1 to S6 may be other types of sensors such as optical sensors. The plurality of sensors S1-S5 detect the stroke lengths of the plurality of hydraulic cylinders 22-26. The plurality of sensors S1-S5 includes a left lift sensor S1, a right lift sensor S2, a drawbar shift sensor S3, a squeegee tilt sensor S4, and a squeegee shift sensor S5.
The left lift sensor S1 detects the stroke length of the left lift cylinder 22. The right lift sensor S2 detects the stroke length of the right lift cylinder 23. The drawbar shift sensor S3 detects a stroke length of the drawbar shift cylinder 24. The blade inclination sensor S4 detects the stroke length of the blade inclination cylinder 25. The squeegee displacement sensor S5 detects the stroke length of the squeegee displacement cylinder 26.
The plurality of sensors S1-S6 includes a rotation sensor S6. The rotation sensor S6 detects the rotation angle θ4 of the turn ring 18. The plurality of sensors S1 to S6 output signals indicating the detected stroke length and rotation angle θ4.
The controller 36 obtains the posture of the working device 5 based on signals from the plurality of sensors S1 to S6. That is, the controller 36 calculates the current values of the above-described plurality of parameters based on the signals from the plurality of sensors S1 to S6. As described above, the controller 36 controls the plurality of actuators 22 to 27 in correspondence with the operations of the plurality of operation members 41 to 46, thereby changing the posture of the working device 5. In the following description, the posture of the working device 5 refers to the posture of the working device 5 with respect to the front frame 11. Alternatively, the posture of the working device 5 refers to the posture of the working device 5 with respect to the vehicle body 2 when the hinge angle is 0. Hereinafter, a control for changing the posture of the working device 5 executed by the controller 36 will be described.
Fig. 9 is a table showing correspondence between an operation member operated by an operator and a driven actuator. In the work machine 1, with the configuration of the work implement 5 described above, a plurality of parameters indicating the posture of the work implement 5 are changed in response to the operation of one actuator. For example, fig. 10 and 11 are rear views of a mathematical model M1 showing the posture of the working device 5. The mathematical model M1 shows the geometric positional relationship of each part of the working device 5 in conjunction with the operation of the actuator. The controller 36 calculates the positions and angles of the drawbar 17, the turn ring 18, and the squeegee blade 16 corresponding to the stroke lengths of the hydraulic cylinders 22-26 and the rotation angle θ4 of the rotary actuator 27 by the mathematical model M1.
Fig. 10 shows the working device 5 in an initial state. Fig. 11 shows the working device 5 when the left lift cylinder 22 is contracted from the initial state. In fig. 11, the actuators other than the left lift cylinder 22 are maintained in the initial state. As shown in fig. 11, the left end 161 of the squeegee 16 is raised from the position 161' of the initial state by the contraction of the left lift cylinder 22. However, the right end 162 of the blade 16 is lowered from the initial position 162'. Further, the squeegee 16 moves leftward from the position in the initial state. That is, the height of the left end portion 161 of the blade 16 changes and the height of the right end portion 162 of the blade 16 and the yaw angle θ1 of the traction lever 17 change in accordance with the stroke operation of the left lift cylinder 22.
Therefore, when only the left lift cylinder 22 is operated in response to the operation of the left lift lever 41, not only the height of the left end portion 161 of the blade 16 but also the height of the right end portion 162 of the blade 16 and the position of the drawbar 17 in the left-right direction are changed. Accordingly, when the left lift lever 41 is operated, the controller 36 controls the left lift cylinder 22, the right lift cylinder 23, and the drawbar shift cylinder 24 so that the height of the left end portion 161 of the squeegee 16 is changed in accordance with the operation of the left lift lever 41, and the height of the right end portion 162 of the squeegee 16 and the yaw angle θ1 of the drawbar 17 are kept constant, as shown in fig. 12.
For example, when the left lift lever 41 is operated to raise the left end portion 161 of the blade 16, the controller 36 contracts the left lift cylinder 22. Thereby, the left end 161 of the squeegee 16 rises. In addition, the controller 36 contracts the right lift cylinder 23. This suppresses the lowering of the right end 162 of the blade 16. In addition, the controller 36 contracts the drawbar shift cylinder 24. Thereby, the change in the yaw angle θ1 of the blade 16 is suppressed.
In detail, fig. 13 is a flowchart showing a process for changing the posture of the working device 5 executed by the controller 36. As shown in fig. 13, in step S101, the controller 36 obtains the current posture of the working device 5. The controller 36 obtains the current stroke length of each of the hydraulic cylinders 22 to 26 and the current rotation angle θ4 of the slewing ring 18 based on signals from the plurality of sensors S1 to S6. The controller 36 calculates the above-described plurality of parameters indicating the posture of the working device 5 based on the current stroke length of each hydraulic cylinder 22-26 and the current rotation angle θ4 of the turn ring 18.
In step S102, the controller 36 obtains an operation of the operation device 35. The controller 36 receives a signal indicating the operation of any one of the plurality of operation members 41 to 46 described above.
In step S103, the controller 36 determines a target posture. The controller 36 determines a target posture corresponding to an operation of the operation member. For example, when the left lifter 41 is operated, the pitch angle θ2 and the roll angle θ3 of the drawbar 17 are determined as target postures, such that the height of the right end 162 of the squeegee 16 and the position of the drawbar 17 in the left-right direction are kept constant and the height of the left end 161 of the squeegee 16 is a height corresponding to the operation of the left lifter 41. In addition, the yaw angle θ1 of the traction lever 17 is maintained at the value of the initial state.
In step S104, the controller 36 determines a target stroke length. The controller 36 calculates a target stroke length of each of the hydraulic cylinders 22 to 26 for causing the working device 5 to take a target posture. In the above example, the controller 36 calculates the first target stroke length of the left lift cylinder 22, the second target stroke length of the right lift cylinder 23, and the third target stroke length of the drawbar shift cylinder 24, which achieve the pitch angle θ2 and the roll angle θ3 of the drawbar 17 indicating the target attitude.
In step S105, the controller 36 calculates a stroke difference. The stroke difference is the difference between the target stroke length and the current stroke length. In the above example, the controller 36 determines the difference between the current stroke length of the left lift cylinder 22 and the first target stroke length as the first stroke difference. The controller 36 determines the difference between the current stroke length of the right lift cylinder 23 and the second target stroke length as the second stroke difference. The controller 36 determines the difference between the current stroke length of the drawbar shift cylinder 24 and the third target stroke length as the third stroke difference.
In step S106, the controller 36 determines a target stroke speed of each of the hydraulic cylinders 22 to 26 for causing the working device 5 to take the target posture. The controller 36 determines a target stroke speed based on the stroke difference of each of the hydraulic cylinders 22-26. In the above example, the controller 36 determines the first target stroke speed of the left lift cylinder 22 based on the first stroke difference. The controller 36 determines a second target stroke speed of the right lift cylinder 23 based on the second stroke difference. The controller 36 determines a third target travel speed of the drawbar shift cylinder 24 based on the third travel difference.
For example, the controller 36 determines the first target travel speed of the left lift cylinder 22 by multiplying the first travel difference by a prescribed first gain. The controller 36 determines a second target stroke speed of the right lift cylinder 23 by multiplying the second stroke difference by a prescribed second gain. The controller 36 determines a third target travel speed of the drawbar shift cylinder 24 by multiplying the third travel difference by a prescribed third gain.
The controller 37 controls the left lift cylinder 22 by feedback control so that the stroke speed of the left lift cylinder 22 is maintained at the first target stroke speed. The controller 37 controls the right lift cylinder 23 through feedback control so that the stroke speed of the right lift cylinder 23 is maintained at the second target stroke speed. The controller 37 controls the drawbar shift cylinder 24 by feedback control so that the stroke speed of the drawbar shift cylinder 24 is maintained at the third target stroke speed.
The controller 37 increases the first to third gains as the vehicle speed increases. Thus, for example, when the vehicle speed is high, the blade 16 can be moved at a high speed. This makes it easy to respond to abrupt posture changes of the vehicle body 2 during high-speed operation. Alternatively, when the vehicle speed is small, the occurrence of overshoot is suppressed, so that the blade 16 can be stably operated. Thus, at the time of low-speed operation, the accuracy of the operation by the blade 16 improves.
In step S107, the controller 36 controls each actuator based on the target stroke speed. In the above example, the controller 36 controls the control valve 34 to stroke the left lift cylinder 22 at the first target stroke speed. The controller 36 controls the control valve 34 to stroke the right lift cylinder 23 at the second target stroke speed. The controller 36 controls the control valve 34 to stroke the drawbar shift cylinder 24 at the third target stroke speed. Thus, as shown in fig. 12, the height of the right end 162 of the blade 16 and the position of the drag lever 17 in the left-right direction are kept constant, and at the same time, the height of the left end 161 of the blade 16 is changed in accordance with the operation of the left lift lever 41.
As described above, when the left lift lever 41 is operated, the controller 36 achieves the target posture of the working device 5 corresponding to the operation of the left lift lever 41 by the combination of the stroke actions of the left lift cylinder 22, the right lift cylinder 23, and the drawbar shift cylinder 24. Similarly, when another operation member is operated, the controller 36 achieves the target posture of the working device 5 corresponding to the operation of the operation member by a combination of the operations of the plurality of actuators 22 to 27.
For example, as shown in fig. 9, when the right lift lever 42 is operated, the controller 36 operates the left lift cylinder 22, the right lift cylinder 23, and the drawbar shift cylinder 24. Similarly to the left lift cylinder 22, when the right lift cylinder 23 performs the stroke operation, the height of the right end 162 of the blade 16 changes in accordance with the stroke operation of the right lift cylinder 23, and the height of the left end 161 of the blade 16 and the position of the drawbar 17 in the left-right direction also change.
Therefore, when the right lifter 42 is operated, the controller 36 determines the pitch angle θ2 and the roll angle θ3 of the drawbar 17 as target postures such that the height of the left end 161 of the squeegee 16 and the yaw angle θ1 of the drawbar 17 are kept constant and the height of the right end 162 of the squeegee 16 is a height corresponding to the operation of the right lifter 42. The controller 36 achieves the target posture of the working device 5 corresponding to the operation of the right lift lever 42 by a combination of the stroke motions of the left lift cylinder 22, the right lift cylinder 23, and the drawbar shift cylinder 24.
When the drawbar shift lever 43 is operated, the controller 36 operates the left lift cylinder 22, the right lift cylinder 23, and the drawbar shift cylinder 24. Fig. 14A shows the work implement 5 when the traction rod displacement cylinder 24 performs a stroke operation from an initial state in the conventional grader. In the conventional grader, when the drawbar shift cylinder 24 performs a stroke operation, the height of the left end 161 and the height of the right end 162 of the blade 16 also change in accordance with the stroke operation of the drawbar shift cylinder 24, as shown in fig. 14A. In addition, the yaw angle θ1 of the drawbar 17 is changed in response to the stroke operation of the drawbar shift cylinder 24.
Therefore, in the working machine 1 of the present embodiment, when the boom shift lever 43 is operated, the controller 36 determines the pitch angle θ2 and the roll angle θ3 of the boom 17 as target postures, such that the height of the left end portion 161 and the height of the right end portion 162 of the blade 16 are kept constant and the yaw angle θ1 of the boom 17 is set to an angle corresponding to the operation of the boom shift lever 43, as shown in fig. 14B. The controller 36 achieves the target posture of the working device 5 corresponding to the operation of the drawbar shift lever 43 by a combination of the stroke operations of the left lift cylinder 22, the right lift cylinder 23, and the drawbar shift cylinder 24.
When the rotating lever 44 is operated, the controller 36 operates the left lift cylinder 22, the right lift cylinder 23, the traction lever displacement cylinder 24, and the rotation actuator 27. Fig. 15A is a side view of the working device 5 showing an initial state. Fig. 15B shows the work implement 5 when the pivot ring 18 in the conventional grader is rotated from the initial state. In the conventional grader, when the pivot ring 18 is rotated by the rotation actuator 27, the height of the left end portion 161 and the height of the right end portion 162 of the blade 16 also change in accordance with the rotation of the pivot ring 18, as shown in fig. 15B. In addition, the rotation angle θ4 of the turn ring 18 changes in response to the rotation of the turn ring 18.
Therefore, in the work machine 1 of the present embodiment, when the rotating lever 44 is operated, the controller 36 determines the yaw angle θ1, the pitch angle θ2, and the roll angle θ3 of the traction lever 17, which are such that the rotation angle θ4 of the swivel ring 18 corresponds to the rotation angle θ4 corresponding to the operation of the rotating lever 44, while keeping the height of the left end portion 161 and the height of the right end portion 162 of the blade 16 constant, as shown in fig. 15C. The controller 36 achieves the target posture of the working device 5 corresponding to the operation of the rotating lever 44 by a combination of the stroke operation of the left lift cylinder 22, the right lift cylinder 23, and the drawbar shift cylinder 24 and the rotation operation of the rotation actuator 27.
When the blade tilting lever 45 is operated, the controller 36 operates the left lift cylinder 22, the right lift cylinder 23, the boom shift cylinder 24, and the blade tilting cylinder 25. Fig. 16A is a side view of the working device 5 showing an initial state. Fig. 16B shows the working device 5 when the blade tilting cylinder 25 is stroked from the initial state in the conventional motor. As shown in fig. 16B, in the conventional grader, when the blade tilting cylinder 25 performs a stroke operation, the height of the blade 16 is also changed in accordance with the stroke operation of the blade tilting cylinder 25. The inclination angle θ5 of the blade 16 is changed in response to the stroke operation of the blade inclination cylinder 25.
Therefore, in the working machine 1 of the present embodiment, when the blade tilting lever 45 is operated, the controller 36 determines the yaw angle θ1, the pitch angle θ2, and the roll angle θ3 of the drawbar 17 as target postures such that the height of the blade 16 is kept constant and the tilt angle θ5 of the blade 16 is an angle corresponding to the operation of the blade tilting lever 45, as shown in fig. 16C. The controller 36 achieves the target posture of the working device 5 corresponding to the operation of the blade tilting lever 45 by a combination of the stroke actions of the left lift cylinder 22, the right lift cylinder 23, the boom displacement cylinder 24, and the blade tilting cylinder 25.
In addition, when the squeegee shift lever 46 is operated, the controller 36 controls the squeegee shift cylinder 26 so that the shift amount of the squeegee 16 becomes an amount corresponding to the operation of the squeegee shift lever 46.
In the work machine 1 of the present embodiment described above, the target posture of the work implement 5 is determined in accordance with the operation of the operation device 35. The target stroke length of each of the plurality of hydraulic cylinders 22 to 26 and the rotation angle θ4 of the rotary actuator 27 for causing the working device 5 to take the target posture by the combination of the stroke actions of the plurality of hydraulic cylinders 22 to 26 are determined. Then, based on the determined target stroke length and rotation angle θ4, the plurality of hydraulic cylinders 22-26 and the rotary actuator 27 are controlled, respectively. Thus, by a simple operation of the operation device 35, the stroke operation of the plurality of hydraulic cylinders 22 to 26 and the rotation operation of the rotation actuator 27 are combined, and the working device 5 is caused to take the target posture. Therefore, in work machine 1, the operation of work implement 5 is facilitated.
For example, the operator can change the height of the left end portion 161 of the squeegee 16 while keeping the height of the right end portion 162 of the squeegee 16 and the position of the drag lever 17 in the left-right direction constant by operating only the left lift lever 41. By operating only the right elevating lever 42, the operator can change the height of the right end 162 of the squeegee 16 while keeping the height of the left end 161 of the squeegee 16 and the position of the drawbar 17 in the lateral direction constant.
By operating only the drawbar shift lever 43, the operator can change the yaw angle θ1 of the drawbar 17 while keeping the height of the left end 161 and the height of the right end 162 of the squeegee 16 constant. By operating only the rotating lever 44, the operator can change the rotation angle θ4 of the turn ring 18 while keeping the height of the left end portion 161 and the height of the right end portion 162 of the blade 16 constant. The operator can change the inclination angle θ5 of the squeegee 16 while keeping the height of the left end portion 161 and the height of the right end portion 162 of the squeegee 16 constant by operating only the squeegee inclination lever 45.
While the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment, and various modifications may be made without departing from the scope of the present invention.
The work machine 1 is not limited to a grader, and may be another work machine such as a bulldozer. The parameter indicating the posture of the working device 5 is not limited to the above embodiment, and may be changed. The plurality of operating members 41 to 46 are not limited to the above-described embodiment, but may be modified. For example, the operation member is not limited to a lever, and may be another member such as a joystick (jo stick), a switch, or a touch panel.
The sensor for detecting the posture of the working device 5 is not limited to the above embodiment, and may be modified. For example, the sensor may be an Inertial Measurement Unit (IMU). The IMU may be mounted on the drawbar 17, the front frame 11 or the body 2, respectively. The posture of the drawbar 17 and the front housing 11 can be detected by the IMU.
The control for changing the posture of the working device 5 based on the operation of the operation device 35 is not limited to the above-described embodiment, but may be changed. For example, fig. 17 is a schematic diagram showing a drive system 6 and a control system 7 of the work machine 1 according to the first modification. As shown in fig. 17, the operating device 35 may include a mode switching part 47. The mode switching means 47 can be operated by an operator to switch control for changing the posture of the working device 5 to the control of the above-described embodiment (hereinafter referred to as "integrated control mode") and the direct control mode. The mode switching means 47 is, for example, a switch. Alternatively, the mode switching member 47 may be another member such as a lever or a touch panel.
The operator selects which of the integrated control mode and the direct control mode is selected by the mode switching section 47. The mode switching section 47 outputs a switching instruction indicating which one of the integrated control mode and the direct control mode is selected. The controller 36 obtains a mode switch instruction. The controller 36 determines which of the integrated control mode and the direct control mode is selected based on the mode switching instruction.
In the integrated control mode, as in the above-described embodiment, the stroke operation of the plurality of hydraulic cylinders 22 to 26 and the rotation operation of the rotation actuator 27 are combined in accordance with the operation of the operation device 35, whereby the working device 5 takes the target posture.
In the direct control mode, the controller 36 operates only one actuator corresponding to the operated operation member for any one of the plurality of operation members 41 to 46. For example, the controller 36 operates only the left lift cylinder 22 in response to the operation of the left lift lever 41. The controller 36 operates only the right lift cylinder 23 in response to the operation of the right lift lever 42.
The controller 36 operates only the drawbar shift cylinder 24 in correspondence with the operation of the drawbar shift lever 43. The controller 36 operates only the blade tilting cylinder 25 in response to the operation of the blade tilting lever 45. The controller 36 operates only the squeegee shift cylinder 26 in response to the operation of the squeegee shift lever 46. The controller 36 operates only the rotary actuator 27 in response to the operation of the rotary lever 44.
The controller 36 determines the target stroke speed of the corresponding actuator with respect to the operation amount of the operated one of the plurality of operation members 41 to 46. The controller 36 controls the actuator so that the actuator corresponding to the operated operation member operates at the target stroke speed.
In the first modification described above, the operator can switch the control for changing the posture of the working device 5 to the integrated control mode and the direct control mode by operating the mode switching member 47. This improves the operability of the operating device 35 with respect to the working device 5.
Fig. 18 is a schematic diagram showing a drive system 6 and a control system 7 of the work machine 1 according to the second modification. As shown in fig. 18, the operating device 35 may include a plurality of cancel buttons 51-56. The plurality of cancel buttons 51-56 includes first to sixth cancel buttons 51-56. The cancel buttons 51 to 56 are provided corresponding to the respective plural operation members 41 to 46.
The cancel buttons 51 to 56 output cancel instructions indicating that the cancel buttons 51 to 56 are pressed, respectively. The controller 36 obtains a cancel instruction. The controller 36 determines which of the cancel buttons 51-56 is pressed in response to the cancel instruction.
The controller 36 controls the actuators 22 to 27 in the integrated control mode in correspondence with the operations of the operation members 41 to 46 without pressing the cancel buttons 51 to 56. In the case where one of the cancel buttons 51 to 56 is pressed, the controller 36 controls one actuator corresponding to the operation member corresponding to the pressed cancel button in the direct control mode in correspondence with the operation of the operation member.
For example, in a case where the left lift lever 41 is operated without pressing the first cancel button 51, the controller 36 controls the actuator corresponding to the operation of the left lift lever 41 by the integrated control mode. When the left lift lever 41 is operated with the first cancel button 51 pressed, the controller 36 operates only the left lift cylinder 22 in accordance with the operation of the left lift lever 41 in the direct control mode.
In the case where the right lifter 42 is operated without pressing the second cancel button 52, the controller 36 controls the actuators 22 to 27 corresponding to the operation of the right lifter 42 by the integrated control mode. When the right lift lever 42 is operated with the second cancel button 52 pressed, the controller 36 operates only the right lift cylinder 23 in accordance with the operation of the right lift lever 42 in the direct control mode.
In the case where the third cancel button 53 is not pressed and the drawbar shift lever 43 is operated, the controller 36 controls the actuators 22 to 27 in correspondence with the operation of the drawbar shift lever 43 by the integrated control mode. When the third cancel button 53 is pressed to operate the drawbar shift lever 43, the controller 36 operates only the drawbar shift cylinder 24 in accordance with the operation of the drawbar shift lever 43 in the direct control mode.
In the case where the rotary lever 44 is operated without pressing the fourth cancel button 54, the controller 36 controls the actuators 22 to 27 corresponding to the operation of the rotary lever 44 by the integrated control mode. When the rotary lever 44 is operated in a state where the fourth cancel button 54 is pressed, the controller 36 operates only the rotary actuator in accordance with the operation of the rotary lever 44 in the direct control mode.
In the case where the fifth cancel button 55 is not pressed and the squeegee tilt lever 45 is operated, the controller 36 controls the actuators 22 to 27 in correspondence with the operation of the squeegee tilt lever 45 by the integrated control mode. When the squeegee tilt lever 45 is operated with the fifth cancel button 55 pressed, the controller 36 operates only the squeegee tilt cylinder 25 in accordance with the operation of the squeegee tilt lever 45 in the direct control mode.
In the case where the squeegee shift lever 46 is operated without pressing the sixth cancel button 56, the controller 36 controls the actuators 22 to 27 corresponding to the operation of the squeegee shift lever 46 by the integrated control mode. When the squeegee shift lever 46 is operated with the sixth cancel button 56 pressed, the controller 36 operates only the squeegee shift cylinder 26 in accordance with the operation of the squeegee shift lever 46 in the direct control mode.
As described above, in the second modification, when the cancel button is pressed and the operation member is operated, the integrated control mode is temporarily canceled while the cancel button is pressed, and only the actuator corresponding to the operated operation member is operated in the direct control mode. Accordingly, the operator can select the integrated control mode and the direct control mode in response to the presence or absence of the operation of the cancel button. This improves the operability of the operating device 35 with respect to the working device 5.
[ INDUSTRIAL APPLICABILITY ]
According to the present invention, in the work machine, an operation for changing the posture of the work implement becomes easy.
Description of the reference numerals
2: vehicle body
5: work device
11: front frame
12: rear frame
15: support member
16: scraper blade
17: traction rod
22: left lifting cylinder (first hydraulic cylinder)
23: right lifting cylinder (second hydraulic cylinder)
24: traction lever shift cylinder (third hydraulic cylinder)
27: rotary actuator
35: operating device
36: controller for controlling a power supply
41: left lifting bar (first operating part)
42: right lifting bar (second operating component)
161: left end (first end)
162: right end (second end)
S1-S6: sensor for detecting a position of a body
Claims (24)
1. A work machine, comprising:
A vehicle body;
a working device movably connected with respect to the vehicle body;
a plurality of actuators connected to the working device, the actuators changing a posture of the working device with respect to the vehicle body;
an operating device operable to change a posture of the working device;
a sensor that detects a posture of the working device;
the controller is used for controlling the operation of the controller,
the controller takes the current posture of the working device,
determining a target posture of the working device corresponding to an operation of the operating device,
determining a target stroke length for each of the plurality of actuators for causing the working device to assume the target posture from the current posture by a combination of stroke actions of the plurality of actuators,
the plurality of actuators are controlled based on the target stroke length.
2. The work machine of claim 1, wherein,
the attitude of the working device is defined by a plurality of parameters representing the position and/or orientation of the working device relative to the vehicle body,
the plurality of parameters includes a first parameter and a second parameter,
the operating means comprising a first operating member operable to change the first parameter,
The plurality of actuators includes a first actuator and a second actuator,
corresponding to the stroke action of the first actuator, the first parameter changes and the second parameter changes,
at least the second parameter is changed in response to the stroke motion of the second actuator,
the controller determines a first target stroke length of the first actuator and a second target stroke length of the second actuator such that operation corresponding to the first operating member varies the first parameter and maintains the second parameter constant,
controlling the first actuator based on the first target stroke length,
the second actuator is controlled based on the second target stroke length.
3. The work machine of claim 2, wherein,
the operating device further comprises a second operating member operable to change the second parameter,
the second parameter is varied and the first parameter is varied in correspondence with the stroke action of the second actuator,
the controller determines the first target stroke length and the second target stroke length such that the second parameter is varied in correspondence with the second operation member operation, and keeps the first parameter constant,
Controlling the first actuator based on the first target stroke length,
the second actuator is controlled based on the second target stroke length.
4. The work machine of claim 2 or 3, wherein,
the plurality of parameters further includes a third parameter,
the plurality of actuators further includes a third actuator,
said first parameter being varied in correspondence with the stroke action of said first actuator, and said second and third parameters being varied,
at least the second parameter is changed in response to the stroke motion of the second actuator,
at least the third parameter is changed in response to the stroke motion of the third actuator,
the controller determines the first target stroke length, the second target stroke length, and a third target stroke length of the third actuator such that the first parameter is varied in correspondence with the operation of the first operating member, and the second parameter and the third parameter are kept constant,
controlling the first actuator based on the first target stroke length,
controlling the second actuator based on the second target stroke length,
The third actuator is controlled based on the third target stroke length.
5. The work machine of claim 4, wherein,
the working device includes:
a support member movably connected to the vehicle body;
a scraper movably connected to the support member,
the blade has a first end portion and a second end portion in the left-right direction of the vehicle body,
the first parameter is the height of the first end,
the second parameter is the height of the second end,
the third parameter is a yaw angle of the support member relative to the vehicle body.
6. The work machine of claim 4, wherein,
the working device includes:
a support member movably connected to the vehicle body;
a scraper movably connected to the support member,
the blade includes a first end portion and a second end portion in the left-right direction of the vehicle body,
the first parameter is a yaw angle of the support member relative to the vehicle body,
the second parameter is the height of the first end,
the third parameter is the height of the second end.
7. The work machine of claim 4, wherein,
The working device includes:
a support member movably connected to the vehicle body;
a scraper movably connected to the support member,
the blade includes a first end portion and a second end portion in the left-right direction of the vehicle body,
the first parameter is the angle of inclination of the screed,
the second parameter is the height of the first end,
the third parameter is the height of the second end.
8. The work machine of claim 1, wherein,
there is also a rotary actuator for rotating at least a portion of the working device,
the controller determines a target stroke length and a target rotation angle of each of the plurality of actuators for causing the working device to take the target posture by a combination of the stroke actions of the plurality of actuators and the rotation actions of the rotation actuators,
controlling the rotation actuator based on the target rotation angle,
the plurality of actuators are controlled based on the target stroke length.
9. The work machine of claim 8, wherein,
the attitude of the working device is defined by a plurality of parameters representing the position and/or orientation of the working device relative to the vehicle body,
The plurality of parameters includes a first parameter, a second parameter and a third parameter,
said first parameter being varied and said second and third parameters being varied in response to a rotational action of said rotary actuator,
the plurality of actuators includes a first actuator and a second actuator,
at least the second parameter is changed in response to the stroke motion of the first actuator,
at least the third parameter is changed in response to the stroke motion of the second actuator,
the operating means comprising a first operating member operable to change the first parameter,
the controller determines the target rotation angle, a first target stroke length of the first actuator, and a second target stroke length of the second actuator so that the first parameter is changed and the second parameter and the third parameter are kept constant in correspondence with the operation of the first operation member,
controlling the rotation actuator based on the target rotation angle,
controlling the first actuator based on the first target stroke length,
the second actuator is controlled based on the second target stroke length.
10. The work machine of claim 9, wherein,
the working device includes:
a support member that is at least movably connected to the vehicle body;
a scraper movably connected to the support member,
the blade includes a first end and a second end in the left-right direction of the vehicle body
The first parameter is the rotation angle of the rotary actuator,
the second parameter is the height of the first end,
the third parameter is the height of the second end.
11. The work machine of claim 1, wherein,
the vehicle body includes a rear frame and a front frame extending forward from the rear frame,
the working device includes: a traction lever supported swingably with respect to the front frame in at least a vertical direction and a lateral direction of the vehicle body;
a scraper supported by the traction rod,
the plurality of actuators includes:
the left lifting cylinder is connected with the traction rod and the front frame and used for enabling the left end of the scraping plate to move up and down;
the right lifting cylinder is connected with the traction rod and the front frame and used for enabling the right end of the scraping plate to move up and down;
and the traction rod shifting cylinder is connected with the traction rod and the front frame and enables the traction rod to swing in the left-right direction of the vehicle body.
12. The work machine of claim 1, wherein,
further provided with a mode switching means operable by an operator to switch control for changing the posture of the working device to a comprehensive control mode and a direct control mode,
the plurality of actuators includes a first actuator,
the operating means comprise a first operating member,
the controller determining the target posture corresponding to the operation of the first operation member, determining the target stroke lengths of the respective actuators for causing the working device to take the target posture from the current posture by a combination of the stroke actions of the plurality of actuators, controlling the plurality of actuators based on the target stroke lengths,
in the direct control mode, an operation corresponding to the first operation member operates only the first actuator.
13. The work machine of claim 1, wherein,
the plurality of actuators includes a first actuator,
the operating device comprises a first operating component and a first cancel button corresponding to the first operating component,
the controller changes the posture of the working device by the integrated control mode without pressing the first cancel button to operate the first operation member,
In the integrated control mode, determining the target posture corresponding to the operation of the first operation member, determining the target stroke length of each of the plurality of actuators for causing the working device to take the target posture from the current posture by a combination of stroke actions of the plurality of actuators, controlling the plurality of actuators based on the target stroke length,
in the case where the first operation member is operated in a state where the first cancel button is pressed, the posture of the working device is changed by a direct control mode,
in the direct control mode, an operation corresponding to the first operation member operates only the first actuator.
14. A method for controlling a work machine having a vehicle body, a work device movably connected with respect to the vehicle body, a plurality of actuators connected with the work device and changing a posture of the work device with respect to the vehicle body, the method comprising the steps of:
acquiring the current posture of the working device;
acquiring an operation instruction for changing the posture of the working device;
determining a target posture of the working device corresponding to the operation instruction;
Determining a target stroke length for each of the plurality of actuators for causing the working device to assume the target posture from the current posture by a combination of stroke actions of the plurality of actuators,
the plurality of actuators are controlled based on the target stroke length.
15. The method of claim 14, wherein,
the attitude of the working device is defined by a plurality of parameters representing the position and/or orientation of the working device relative to the vehicle body,
the plurality of parameters includes a first parameter and a second parameter,
the plurality of actuators includes a first actuator and a second actuator,
corresponding to the stroke action of the first actuator, the first parameter changes and the second parameter changes,
at least the second parameter is changed in response to the stroke motion of the second actuator,
the method further comprises the steps of:
obtaining a first operation instruction for changing the first parameter;
determining a first target stroke length of the first actuator and a second target stroke length of the second actuator such that the first parameter is varied and the second parameter is held constant in correspondence with the first operation instruction;
Controlling the first actuator based on the first target stroke length;
the second actuator is controlled based on the second target stroke length.
16. The method of claim 15, wherein,
corresponding to the stroke action of the second actuator, the second parameter changes and the first parameter changes,
the method further comprises the steps of:
obtaining a second operation instruction for changing the second parameter;
the first target stroke length and the second target stroke length are determined such that the second parameter is varied and the first parameter is kept constant in correspondence with the second operation instruction.
17. The method of claim 15 or 16, wherein,
the plurality of parameters further includes a third parameter,
the plurality of actuators further includes a third actuator,
corresponding to the stroke action of the first actuator, the first parameter is varied and the second and third parameters are varied,
at least the second parameter is changed in response to the stroke motion of the second actuator,
at least the third parameter is changed in response to the stroke motion of the third actuator,
The method further comprises the steps of:
determining the first target stroke length, the second target stroke length, and a third target stroke length of the third actuator such that the first parameter is varied and the second parameter and the third parameter are held constant in correspondence with the first operation instruction;
the third actuator is controlled based on the third target stroke length.
18. The method of claim 17, wherein,
the working device further includes:
a support member movably connected to the vehicle body;
a scraper movably connected to the support member,
the blade includes a first end portion and a second end portion in the left-right direction of the vehicle body,
the first parameter is the height of the first end,
the second parameter is the height of the second end,
the third parameter is a yaw angle of the support member relative to the vehicle body.
19. The method of claim 17, wherein,
the working device has:
a support member movably connected to the vehicle body;
a scraper movably connected to the support member,
the blade includes a first end portion and a second end portion in the left-right direction of the vehicle body,
The first parameter is a yaw angle of the support member relative to the vehicle body,
the second parameter is the height of the first end,
the third parameter is the height of the second end.
20. The method of claim 17, wherein,
the working device includes:
a support member movably connected to the vehicle body;
a scraper movably connected to the support member,
the blade includes a first end portion and a second end portion in the left-right direction of the vehicle body,
the first parameter is the angle of inclination of the screed,
the second parameter is the height of the first end,
the third parameter is the height of the second end.
21. The method of claim 14, wherein,
the work machine further includes a rotation actuator that rotates at least a part of the work implement,
the method further comprises the steps of:
determining a target stroke length and a target rotation angle of each of the plurality of actuators for causing the working device to take the target posture by a combination of a stroke action of the plurality of actuators and a rotation action of the rotation actuator;
The rotation actuator is controlled based on the target rotation angle.
22. The method of claim 21, wherein,
the attitude of the working device is defined by a plurality of parameters representing the position and/or orientation of the working device relative to the vehicle body,
the plurality of parameters includes a first parameter, a second parameter and a third parameter,
corresponding to the rotary action of the rotary actuator, the first parameter changes and the second and third parameters change,
the plurality of actuators includes a first actuator and a second actuator,
at least the second parameter is changed in response to the stroke motion of the first actuator,
at least the third parameter is changed in response to the stroke motion of the second actuator,
the method further comprises the steps of:
acquiring a first operation signal for changing the first parameter;
determining the target rotation angle, a first target stroke length of the first actuator, and a second target stroke length of the second actuator such that the first parameter is varied in correspondence with the first operation signal, and the second parameter and the third parameter are kept constant;
Controlling the rotation actuator based on the target rotation angle;
controlling the first actuator based on the first target stroke length;
the second actuator is controlled based on the second target stroke length.
23. The method of claim 14, wherein,
the plurality of actuators includes a first actuator,
the method further comprises the steps of:
acquiring a first operation instruction for changing the posture of the working device;
a mode switching instruction is acquired to switch control for changing the posture of the working device to a comprehensive control mode and a direct control mode,
the integrated control mode comprises the following steps:
determining the target gesture corresponding to the first operation instruction;
determining the target stroke length of each of the plurality of actuators for causing the working device to take the target posture from the current posture by a combination of stroke actions of the plurality of actuators;
controlling the plurality of actuators based on the target stroke length,
the direct control mode includes a step of actuating only the first actuator in response to the first operation instruction.
24. The method of claim 14, wherein,
The plurality of actuators includes a first actuator,
the method further comprises the steps of:
acquiring a first operation instruction for changing the posture of the working device;
receiving a first cancel instruction corresponding to the first operation instruction;
changing the posture of the working device by a comprehensive control mode when the first operation instruction is acquired without the first cancel instruction;
in the case where the first operation instruction is taken together with the first cancellation instruction, changing the posture of the working device by a direct control mode,
the integrated control mode comprises the following steps:
determining the target pose corresponding to an operation of the first operation member;
determining the target stroke length of each of the plurality of actuators for causing the working device to take the target posture from the current posture by a combination of stroke actions of the plurality of actuators;
controlling the plurality of actuators based on the target stroke length,
the direct control mode includes a step of actuating only the first actuator in response to the first operation instruction.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
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| JP2021-099271 | 2021-06-15 | ||
| JP2021099271 | 2021-06-15 | ||
| PCT/JP2022/019824 WO2022264713A1 (en) | 2021-06-15 | 2022-05-10 | Work machine, and method for controlling work machine |
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| CN117255880A true CN117255880A (en) | 2023-12-19 |
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|---|---|---|---|---|
| JPH07116724B2 (en) * | 1988-07-11 | 1995-12-13 | 建設省北陸地方建設局長 | Blade pressing force controller for motor grader |
| JP2540633Y2 (en) * | 1991-05-01 | 1997-07-09 | 株式会社小松エスト | Motor grader blade lifting device |
| US5622226A (en) * | 1996-01-29 | 1997-04-22 | Caterpillar Inc. | Method for controlling bounce of a work implement |
| JP3256694B2 (en) * | 1999-11-30 | 2002-02-12 | 株式会社小松エスト | Motor grader operating device |
-
2022
- 2022-05-10 WO PCT/JP2022/019824 patent/WO2022264713A1/en active Application Filing
- 2022-05-10 JP JP2023529679A patent/JPWO2022264713A1/ja active Pending
- 2022-05-10 CN CN202280024690.7A patent/CN117255880A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| JPWO2022264713A1 (en) | 2022-12-22 |
| WO2022264713A1 (en) | 2022-12-22 |
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